A walking assistance device includes a waist wearing belt, a thigh link portion, a lower leg link portion, a lower leg wearing portion mounted on the lower leg link portion, a waist joint portion configured to hold an upper end portion of the thigh link portion so that the thigh link portion swings and the waist joint portion being mounted on the waist wearing belt, and a knee joint portion configured to connect the thigh link portion and the lower leg link portion so that the thigh link portion and the lower leg link portion swing. The thigh link portion and the lower leg link portion have rigidity that is greater in the front-rear direction and an up-down direction than in a right-left direction so as to be elastically twisted around an axis along an elongated direction.